File content as of revision 33:e7b132029bae:

#include "includes.h"
#include "transforms.h"
#include "filters.h"
#include "context.h"
#include "core.h"
#include "meta.h"
#include "sensors.h"
#include "debug.h"

void fast(Context *c) {
    float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
    float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
    dbg_ib = I_b = c->motor->GetCurrentB();
    dbg_ic = I_c = c->motor->GetCurrentC();
    dbg_angle = angle = c->motor->GetPosition();
    
    Clarke(-(I_b + I_c), I_b, &alpha, &beta);
    Parke(alpha, beta, angle, &d, &q);
    
    dbg_d_filtered = d_filtered = c->filter_d->Update(d);
    dbg_q_filtered = q_filtered = c->filter_q->Update(q);

    c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
    
    dbg_ref_d = ref_d;
    dbg_ref_q = ref_q;
    dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
    dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
    
    /*
    vd = 0.0f;
    vq = c->user->throttle;
    */
    
    vd = 0.05f;
    vq = 0.95f;
    
    InverseParke(vd, vq, angle, &valpha, &vbeta);
    
    c->modulator->Update(valpha, vbeta); 
}

void slow(Context *c) {
    c->user->UpdateThrottle();
}

void debug(Context *c) {
    //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
}

void log(Context *c) {
    c->debugger->Write(0, dbg_d_filtered);
    c->debugger->Write(1, dbg_q_filtered);
}